Really good progress today. After the rate d correction I needed to raise Factor Throttle to 0.288.
Some Altitude Speed tuning ended with
P=50 PM=200
I=1 IM=250 OM=250
Altitude Position P=0.1
There is rarely any transition effect when switching from manual to PH and back. PH works really fine.
Lowered tilt angle d to 1500. May need a little more.
I am not quite satisfied with the yaw reaction, so far I only raised yaw angle p to 0.25, do not remember if I touched yaw rate d yet, it is at 5.
RTH worked after I switched to PH. I only went a short distance of about 30m, the copter does not face to the home location, but takes a straight line to home. An effect of the misleading magnet? I hope we will sometime get a return to lauch and land with transition at configurable height above both endpoints.
I am very satisfied with the AutoQuad. It will soon beat my Naza.